1

/******************************************************************************

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it

    10

 *  and/or modify it under the terms of the GNU General Public License

    11

 *  as published by the Free Software Foundation; either version 2 of the

    12

 *  License, or (at your option) any later version.

    13

 *

    14

 *  The IgH EtherCAT Master is distributed in the hope that it will be

    15

 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

 *  You should have received a copy of the GNU General Public License

    20

 *  along with the IgH EtherCAT Master; if not, write to the Free Software

    21

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    22

 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

 *****************************************************************************/

    33

    34

/**

    35

   \file

    36

   EtherCAT slave methods.

    37

*/

    38

    39

/*****************************************************************************/

    40

    41

#include <linux/module.h>

    42

#include <linux/delay.h>

    43

    44

#include "globals.h"

    45

#include "slave.h"

    46

#include "datagram.h"

    47

#include "master.h"

    48

    49

/*****************************************************************************/

    50

    51

extern const ec_code_msg_t al_status_messages[];

    52

    53

/*****************************************************************************/

    54

    55

void ec_slave_clear(struct kobject *);

    56

void ec_slave_sdos_clear(struct kobject *);

    57

ssize_t ec_show_slave_attribute(struct kobject *, struct attribute *, char *);

    58

ssize_t ec_store_slave_attribute(struct kobject *, struct attribute *,

    59

                                 const char *, size_t);

    60

    61

/*****************************************************************************/

    62

    63

/** \cond */

    64

    65

EC_SYSFS_READ_ATTR(info);

    66

EC_SYSFS_READ_WRITE_ATTR(state);

    67

EC_SYSFS_READ_WRITE_ATTR(eeprom);

    68

    69

static struct attribute *def_attrs[] = {

    70

    &attr_info,

    71

    &attr_state,

    72

    &attr_eeprom,

    73

    NULL,

    74

};

    75

    76

static struct sysfs_ops sysfs_ops = {

    77

    .show = ec_show_slave_attribute,

    78

    .store = ec_store_slave_attribute

    79

};

    80

    81

static struct kobj_type ktype_ec_slave = {

    82

    .release = ec_slave_clear,

    83

    .sysfs_ops = &sysfs_ops,

    84

    .default_attrs = def_attrs

    85

};

    86

    87

static struct kobj_type ktype_ec_slave_sdos = {

    88

    .release = ec_slave_sdos_clear

    89

};

    90

    91

/** \endcond */

    92

    93

/*****************************************************************************/

    94

    95

/**

    96

   Slave constructor.

    97

   \return 0 in case of success, else < 0

    98

*/

    99

   100

int ec_slave_init(ec_slave_t *slave, /**< EtherCAT slave */

   101

                  ec_master_t *master, /**< EtherCAT master */

   102

                  uint16_t ring_position, /**< ring position */

   103

                  uint16_t station_address /**< station address to configure */

   104

                  )

   105

{

   106

    unsigned int i;

   107

   108

    slave->ring_position = ring_position;

   109

    slave->station_address = station_address;

   110

   111

    slave->master = master;

   112

   113

    slave->requested_state = EC_SLAVE_STATE_UNKNOWN;

   114

    slave->current_state = EC_SLAVE_STATE_UNKNOWN;

   115

    slave->error_flag = 0;

   116

    slave->online = 1;

   117

    slave->fmmu_count = 0;

   118

   119

    slave->coupler_index = 0;

   120

    slave->coupler_subindex = 0xFFFF;

   121

   122

    slave->base_type = 0;

   123

    slave->base_revision = 0;

   124

    slave->base_build = 0;

   125

    slave->base_fmmu_count = 0;

   126

    slave->base_sync_count = 0;

   127

   128

    slave->eeprom_data = NULL;

   129

    slave->eeprom_size = 0;

   130

    slave->new_eeprom_data = NULL;

   131

    slave->new_eeprom_size = 0;

   132

   133

    slave->sii_alias = 0;

   134

    slave->sii_vendor_id = 0;

   135

    slave->sii_product_code = 0;

   136

    slave->sii_revision_number = 0;

   137

    slave->sii_serial_number = 0;

   138

    slave->sii_rx_mailbox_offset = 0;

   139

    slave->sii_rx_mailbox_size = 0;

   140

    slave->sii_tx_mailbox_offset = 0;

   141

    slave->sii_tx_mailbox_size = 0;

   142

    slave->sii_mailbox_protocols = 0;

   143

    slave->sii_group = NULL;

   144

    slave->sii_image = NULL;

   145

    slave->sii_order = NULL;

   146

    slave->sii_name = NULL;

   147

    slave->sii_current_on_ebus = 0;

   148

   149

    INIT_LIST_HEAD(&slave->sii_strings);

   150

    INIT_LIST_HEAD(&slave->sii_syncs);

   151

    INIT_LIST_HEAD(&slave->sii_pdos);

   152

    INIT_LIST_HEAD(&slave->sdo_dictionary);

   153

    INIT_LIST_HEAD(&slave->sdo_confs);

   154

   155

    slave->sdo_dictionary_fetched = 0;

   156

    slave->jiffies_preop = 0;

   157

   158

    for (i = 0; i < 4; i++) {

   159

        slave->dl_link[i] = 0;

   160

        slave->dl_loop[i] = 0;

   161

        slave->dl_signal[i] = 0;

   162

        slave->sii_physical_layer[i] = 0xFF;

   163

    }

   164

   165

    // init kobject and add it to the hierarchy

   166

    memset(&slave->kobj, 0x00, sizeof(struct kobject));

   167

    kobject_init(&slave->kobj);

   168

    slave->kobj.ktype = &ktype_ec_slave;

   169

    slave->kobj.parent = &master->kobj;

   170

    if (kobject_set_name(&slave->kobj, "slave%03i", slave->ring_position)) {

   171

        EC_ERR("Failed to set kobject name.\n");

   172

        goto out_slave_put;

   173

    }

   174

    if (kobject_add(&slave->kobj)) {

   175

        EC_ERR("Failed to add slave's kobject.\n");

   176

        goto out_slave_put;

   177

    }

   178

   179

    // init SDO kobject and add it to the hierarchy

   180

    memset(&slave->sdo_kobj, 0x00, sizeof(struct kobject));

   181

    kobject_init(&slave->sdo_kobj);

   182

    slave->sdo_kobj.ktype = &ktype_ec_slave_sdos;

   183

    slave->sdo_kobj.parent = &slave->kobj;

   184

    if (kobject_set_name(&slave->sdo_kobj, "sdos")) {

   185

        EC_ERR("Failed to set kobject name.\n");

   186

        goto out_sdo_put;

   187

    }

   188

    if (kobject_add(&slave->sdo_kobj)) {

   189

        EC_ERR("Failed to add SDOs kobject.\n");

   190

        goto out_sdo_put;

   191

    }

   192

   193

    return 0;

   194

   195

 out_sdo_put:

   196

    kobject_put(&slave->sdo_kobj);

   197

    kobject_del(&slave->kobj);

   198

 out_slave_put:

   199

    kobject_put(&slave->kobj);

   200

    return -1;

   201

}

   202

   203

/*****************************************************************************/

   204

   205

/**

   206

   Slave destructor.

   207

   Clears and frees a slave object.

   208

*/

   209

   210

void ec_slave_destroy(ec_slave_t *slave /**< EtherCAT slave */)

   211

{

   212

    ec_sdo_t *sdo, *next_sdo;

   213

   214

    // free all SDOs

   215

    list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {

   216

        list_del(&sdo->list);

   217

        ec_sdo_destroy(sdo);

   218

    }

   219

   220

    // free SDO kobject

   221

    kobject_del(&slave->sdo_kobj);

   222

    kobject_put(&slave->sdo_kobj);

   223

   224

    // destroy self

   225

    kobject_del(&slave->kobj);

   226

    kobject_put(&slave->kobj);

   227

}

   228

   229

/*****************************************************************************/

   230

   231

/**

   232

   Clear and free slave.

   233

   This method is called by the kobject,

   234

   once there are no more references to it.

   235

*/

   236

   237

void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)

   238

{

   239

    ec_slave_t *slave;

   240

    ec_sii_string_t *string, *next_str;

   241

    ec_sii_sync_t *sync, *next_sync;

   242

    ec_sii_pdo_t *pdo, *next_pdo;

   243

    ec_sii_pdo_entry_t *entry, *next_ent;

   244

    ec_sdo_data_t *sdodata, *next_sdodata;

   245

   246

    slave = container_of(kobj, ec_slave_t, kobj);

   247

   248

    // free all string objects

   249

    list_for_each_entry_safe(string, next_str, &slave->sii_strings, list) {

   250

        list_del(&string->list);

   251

        kfree(string);

   252

    }

   253

   254

    // free all sync managers

   255

    list_for_each_entry_safe(sync, next_sync, &slave->sii_syncs, list) {

   256

        list_del(&sync->list);

   257

        kfree(sync);

   258

    }

   259

   260

    // free all PDOs

   261

    list_for_each_entry_safe(pdo, next_pdo, &slave->sii_pdos, list) {

   262

        list_del(&pdo->list);

   263

        if (pdo->name) kfree(pdo->name);

   264

   265

        // free all PDO entries

   266

        list_for_each_entry_safe(entry, next_ent, &pdo->entries, list) {

   267

            list_del(&entry->list);

   268

            if (entry->name) kfree(entry->name);

   269

            kfree(entry);

   270

        }

   271

   272

        kfree(pdo);

   273

    }

   274

   275

    if (slave->sii_group) kfree(slave->sii_group);

   276

    if (slave->sii_image) kfree(slave->sii_image);

   277

    if (slave->sii_order) kfree(slave->sii_order);

   278

    if (slave->sii_name) kfree(slave->sii_name);

   279

   280

    // free all SDO configurations

   281

    list_for_each_entry_safe(sdodata, next_sdodata, &slave->sdo_confs, list) {

   282

        list_del(&sdodata->list);

   283

        kfree(sdodata->data);

   284

        kfree(sdodata);

   285

    }

   286

   287

    if (slave->eeprom_data) kfree(slave->eeprom_data);

   288

    if (slave->new_eeprom_data) kfree(slave->new_eeprom_data);

   289

   290

    kfree(slave);

   291

}

   292

   293

/*****************************************************************************/

   294

   295

/**

   296

*/

   297

   298

void ec_slave_sdos_clear(struct kobject *kobj /**< kobject for SDOs */)

   299

{

   300

}

   301

   302

/*****************************************************************************/

   303

   304

/**

   305

   Reset slave from operation mode.

   306

*/

   307

   308

void ec_slave_reset(ec_slave_t *slave /**< EtherCAT slave */)

   309

{

   310

    ec_sdo_data_t *sdodata, *next_sdodata;

   311

    ec_sii_sync_t *sync;

   312

   313

    // remove FMMU configurations

   314

    slave->fmmu_count = 0;

   315

   316

    // free all SDO configurations

   317

    list_for_each_entry_safe(sdodata, next_sdodata, &slave->sdo_confs, list) {

   318

        list_del(&sdodata->list);

   319

        kfree(sdodata->data);

   320

        kfree(sdodata);

   321

    }

   322

   323

    // remove estimated sync manager sizes

   324

    list_for_each_entry(sync, &slave->sii_syncs, list) {

   325

        sync->est_length = 0;

   326

    }

   327

}

   328

   329

/*****************************************************************************/

   330

   331

/**

   332

 */

   333

   334

void ec_slave_request_state(ec_slave_t *slave, /**< ETherCAT slave */

   335

                            ec_slave_state_t state /**< new state */

   336

                            )

   337

{

   338

    slave->requested_state = state;

   339

    slave->error_flag = 0;

   340

}

   341

   342

/*****************************************************************************/

   343

   344

/**

   345

   Fetches data from a STRING category.

   346

   \return 0 in case of success, else < 0

   347

*/

   348

   349

int ec_slave_fetch_strings(ec_slave_t *slave, /**< EtherCAT slave */

   350

                           const uint8_t *data /**< category data */

   351

                           )

   352

{

   353

    unsigned int string_count, i;

   354

    size_t size;

   355

    off_t offset;

   356

    ec_sii_string_t *string;

   357

   358

    string_count = data[0];

   359

    offset = 1;

   360

    for (i = 0; i < string_count; i++) {

   361

        size = data[offset];

   362

        // allocate memory for string structure and data at a single blow

   363

        if (!(string = (ec_sii_string_t *)

   364

              kmalloc(sizeof(ec_sii_string_t) + size + 1, GFP_ATOMIC))) {

   365

            EC_ERR("Failed to allocate string memory.\n");

   366

            return -1;

   367

        }

   368

        string->size = size;

   369

        // string memory appended to string structure

   370

        string->data = (char *) string + sizeof(ec_sii_string_t);

   371

        memcpy(string->data, data + offset + 1, size);

   372

        string->data[size] = 0x00;

   373

        list_add_tail(&string->list, &slave->sii_strings);

   374

        offset += 1 + size;

   375

    }

   376

   377

    return 0;

   378

}

   379

   380

/*****************************************************************************/

   381

   382

/**

   383

   Fetches data from a GENERAL category.

   384

   \return 0 in case of success, else < 0

   385

*/

   386

   387

void ec_slave_fetch_general(ec_slave_t *slave, /**< EtherCAT slave */

   388

                            const uint8_t *data /**< category data */

   389

                            )

   390

{

   391

    unsigned int i;

   392

   393

    ec_slave_locate_string(slave, data[0], &slave->sii_group);

   394

    ec_slave_locate_string(slave, data[1], &slave->sii_image);

   395

    ec_slave_locate_string(slave, data[2], &slave->sii_order);

   396

    ec_slave_locate_string(slave, data[3], &slave->sii_name);

   397

   398

    for (i = 0; i < 4; i++)

   399

        slave->sii_physical_layer[i] =

   400

            (data[4] & (0x03 << (i * 2))) >> (i * 2);

   401

   402

    slave->sii_current_on_ebus = EC_READ_S16(data + 0x0C);

   403

}

   404

   405

/*****************************************************************************/

   406

   407

/**

   408

   Fetches data from a SYNC MANAGER category.

   409

   \return 0 in case of success, else < 0

   410

*/

   411

   412

int ec_slave_fetch_sync(ec_slave_t *slave, /**< EtherCAT slave */

   413

                        const uint8_t *data, /**< category data */

   414

                        size_t word_count /**< number of words */

   415

                        )

   416

{

   417

    unsigned int sync_count, i;

   418

    ec_sii_sync_t *sync;

   419

   420

    sync_count = word_count / 4; // sync manager struct is 4 words long

   421

   422

    for (i = 0; i < sync_count; i++, data += 8) {

   423

        if (!(sync = (ec_sii_sync_t *)

   424

              kmalloc(sizeof(ec_sii_sync_t), GFP_ATOMIC))) {

   425

            EC_ERR("Failed to allocate Sync-Manager memory.\n");

   426

            return -1;

   427

        }

   428

   429

        sync->index = i;

   430

        sync->physical_start_address = EC_READ_U16(data);

   431

        sync->length                 = EC_READ_U16(data + 2);

   432

        sync->control_register       = EC_READ_U8 (data + 4);

   433

        sync->enable                 = EC_READ_U8 (data + 6);

   434

   435

        sync->est_length = 0;

   436

   437

        list_add_tail(&sync->list, &slave->sii_syncs);

   438

    }

   439

   440

    return 0;

   441

}

   442

   443

/*****************************************************************************/

   444

   445

/**

   446

   Fetches data from a [RT]XPDO category.

   447

   \return 0 in case of success, else < 0

   448

*/

   449

   450

int ec_slave_fetch_pdo(ec_slave_t *slave, /**< EtherCAT slave */

   451

                       const uint8_t *data, /**< category data */

   452

                       size_t word_count, /**< number of words */

   453

                       ec_sii_pdo_type_t pdo_type /**< PDO type */

   454

                       )

   455

{

   456

    ec_sii_pdo_t *pdo;

   457

    ec_sii_pdo_entry_t *entry;

   458

    unsigned int entry_count, i;

   459

   460

    while (word_count >= 4) {

   461

        if (!(pdo = (ec_sii_pdo_t *)

   462

              kmalloc(sizeof(ec_sii_pdo_t), GFP_ATOMIC))) {

   463

            EC_ERR("Failed to allocate PDO memory.\n");

   464

            return -1;

   465

        }

   466

   467

        INIT_LIST_HEAD(&pdo->entries);

   468

        pdo->type = pdo_type;

   469

   470

        pdo->index = EC_READ_U16(data);

   471

        entry_count = EC_READ_U8(data + 2);

   472

        pdo->sync_index = EC_READ_U8(data + 3);

   473

        pdo->name = NULL;

   474

        ec_slave_locate_string(slave, EC_READ_U8(data + 5), &pdo->name);

   475

   476

        list_add_tail(&pdo->list, &slave->sii_pdos);

   477

   478

        word_count -= 4;

   479

        data += 8;

   480

   481

        for (i = 0; i < entry_count; i++) {

   482

            if (!(entry = (ec_sii_pdo_entry_t *)

   483

                  kmalloc(sizeof(ec_sii_pdo_entry_t), GFP_ATOMIC))) {

   484

                EC_ERR("Failed to allocate PDO entry memory.\n");

   485

                return -1;

   486

            }

   487